The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 03, 2016
Filed:
Mar. 10, 2015
Applicant:
Irobot Corporation, Bedford, MA (US);
Inventors:
Mark Claffee, Methuen, MA (US);
Nicholas Roy Corson, Hollis, NH (US);
Assignee:
iRobot Corporation, Bedford, MA (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 15/00 (2006.01); B25J 15/08 (2006.01); B25J 9/00 (2006.01); B25J 9/10 (2006.01); B25J 15/04 (2006.01); B25J 15/10 (2006.01);
U.S. Cl.
CPC ...
B25J 15/08 (2013.01); B25J 9/0015 (2013.01); B25J 9/104 (2013.01); B25J 15/0009 (2013.01); B25J 15/0475 (2013.01); B25J 15/10 (2013.01); Y10S 294/907 (2013.01); Y10S 901/31 (2013.01); Y10S 901/36 (2013.01); Y10S 901/46 (2013.01);
Abstract
A compliant underactuated grasper includes a palm base and two fingers. Each of the fingers comprises: a proximal phalanx; a distal phalanx; a compliant flexure joint connecting the distal phalanx to the proximal phalanx; and a pin joint connecting the proximal phalanx to the palm base, the pin joint constraining angular movement of the proximal phalanx relative to the palm base to rotation about a pin pivot axis. The grasper further includes at least one actuator to move the fingers. The grasper has fewer actuators than degrees of freedom.